mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-25 09:16:07 +03:00
407 lines
11 KiB
C
407 lines
11 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include "platform.h"
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#include "common/maths.h"
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#include "config/config.h"
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#include "drivers/serial.h"
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#include "drivers/adc.h"
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#include "io/serial.h"
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#include "flight/failsafe.h"
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#include "drivers/gpio.h"
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#include "drivers/timer.h"
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#include "drivers/pwm_rx.h"
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#include "rx/pwm.h"
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#include "rx/sbus.h"
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#include "rx/spektrum.h"
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#include "rx/sumd.h"
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#include "rx/sumh.h"
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#include "rx/msp.h"
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#include "rx/xbus.h"
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#include "rx/rx.h"
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extern int16_t debug[4];
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void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
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const char rcChannelLetters[] = "AERT12345678abcdefgh";
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uint16_t rssi; // range: [0;1023]
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int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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#define PPM_AND_PWM_SAMPLE_COUNT 4
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#define PULSE_MIN 750 // minimum PWM pulse width which is considered valid
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#define PULSE_MAX 2250 // maximum PWM pulse width which is considered valid
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#define DELAY_50_HZ (1000000 / 50)
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static rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)
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rxRuntimeConfig_t rxRuntimeConfig;
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static rxConfig_t *rxConfig;
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void serialRxInit(rxConfig_t *rxConfig);
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static failsafe_t *failsafe;
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void useRxConfig(rxConfig_t *rxConfigToUse)
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{
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rxConfig = rxConfigToUse;
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}
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#ifdef SERIAL_RX
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void updateSerialRxFunctionConstraint(functionConstraint_t *functionConstraintToUpdate)
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{
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switch (rxConfig->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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spektrumUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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case SERIALRX_SBUS:
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sbusUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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case SERIALRX_SUMD:
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sumdUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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case SERIALRX_SUMH:
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sumhUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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case SERIALRX_XBUS_MODE_B:
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xBusUpdateSerialRxFunctionConstraint(functionConstraintToUpdate);
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break;
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}
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}
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#endif
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#define STICK_CHANNEL_COUNT 4
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void rxInit(rxConfig_t *rxConfig, failsafe_t *initialFailsafe)
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{
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uint8_t i;
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useRxConfig(rxConfig);
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for (i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
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rcData[i] = rxConfig->midrc;
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}
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failsafe = initialFailsafe;
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#ifdef SERIAL_RX
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if (feature(FEATURE_RX_SERIAL)) {
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serialRxInit(rxConfig);
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}
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#endif
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if (feature(FEATURE_RX_MSP)) {
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rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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}
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if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
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rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
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}
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rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
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}
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#ifdef SERIAL_RX
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void serialRxInit(rxConfig_t *rxConfig)
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{
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bool enabled = false;
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switch (rxConfig->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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enabled = spektrumInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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case SERIALRX_SBUS:
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enabled = sbusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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case SERIALRX_SUMD:
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enabled = sumdInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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case SERIALRX_SUMH:
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enabled = sumhInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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case SERIALRX_XBUS_MODE_B:
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enabled = xBusInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
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break;
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}
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if (!enabled) {
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featureClear(FEATURE_RX_SERIAL);
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rcReadRawFunc = NULL;
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}
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}
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bool isSerialRxFrameComplete(rxConfig_t *rxConfig)
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{
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switch (rxConfig->serialrx_provider) {
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case SERIALRX_SPEKTRUM1024:
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case SERIALRX_SPEKTRUM2048:
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return spektrumFrameComplete();
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case SERIALRX_SBUS:
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return sbusFrameComplete();
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case SERIALRX_SUMD:
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return sumdFrameComplete();
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case SERIALRX_SUMH:
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return sumhFrameComplete();
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case SERIALRX_XBUS_MODE_B:
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return xBusFrameComplete();
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}
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return false;
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}
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#endif
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uint8_t calculateChannelRemapping(uint8_t *channelMap, uint8_t channelMapEntryCount, uint8_t channelToRemap)
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{
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if (channelToRemap < channelMapEntryCount) {
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return channelMap[channelToRemap];
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}
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return channelToRemap;
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}
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static bool rcDataReceived = false;
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static uint32_t rxUpdateAt = 0;
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void updateRx(void)
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{
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rcDataReceived = false;
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#ifdef SERIAL_RX
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// calculate rc stuff from serial-based receivers (spek/sbus)
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if (feature(FEATURE_RX_SERIAL)) {
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rcDataReceived = isSerialRxFrameComplete(rxConfig);
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}
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#endif
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if (feature(FEATURE_RX_MSP)) {
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rcDataReceived = rxMspFrameComplete();
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}
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if (rcDataReceived) {
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if (feature(FEATURE_FAILSAFE)) {
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failsafe->vTable->reset();
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}
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}
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}
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bool shouldProcessRx(uint32_t currentTime)
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{
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return rcDataReceived || ((int32_t)(currentTime - rxUpdateAt) >= 0); // data driven or 50Hz
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}
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static bool isRxDataDriven(void) {
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return !(feature(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM));
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}
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static uint8_t rcSampleIndex = 0;
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uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
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{
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static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT];
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static int16_t rcDataMean[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT];
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static bool rxSamplesCollected = false;
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uint8_t currentSampleIndex = rcSampleIndex % PPM_AND_PWM_SAMPLE_COUNT;
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// update the recent samples and compute the average of them
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rcSamples[chan][currentSampleIndex] = sample;
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// avoid returning an incorrect average which would otherwise occur before enough samples
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if (!rxSamplesCollected) {
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if (rcSampleIndex < PPM_AND_PWM_SAMPLE_COUNT) {
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return sample;
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}
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rxSamplesCollected = true;
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}
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rcDataMean[chan] = 0;
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uint8_t sampleIndex;
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for (sampleIndex = 0; sampleIndex < PPM_AND_PWM_SAMPLE_COUNT; sampleIndex++)
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rcDataMean[chan] += rcSamples[chan][sampleIndex];
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return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT;
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}
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void processRxChannels(void)
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{
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uint8_t chan;
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if (feature(FEATURE_RX_MSP)) {
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return; // rcData will have already been updated by MSP_SET_RAW_RC
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}
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bool shouldCheckPulse = true;
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if (feature(FEATURE_FAILSAFE) && feature(FEATURE_RX_PPM)) {
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shouldCheckPulse = isPPMDataBeingReceived();
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resetPPMDataReceivedState();
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}
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for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
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if (!rcReadRawFunc) {
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rcData[chan] = rxConfig->midrc;
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continue;
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}
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uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, chan);
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// sample the channel
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uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel);
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if (feature(FEATURE_FAILSAFE) && shouldCheckPulse) {
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failsafe->vTable->checkPulse(rawChannel, sample);
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}
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// validate the range
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if (sample < PULSE_MIN || sample > PULSE_MAX)
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sample = rxConfig->midrc;
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if (isRxDataDriven()) {
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rcData[chan] = sample;
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} else {
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rcData[chan] = calculateNonDataDrivenChannel(chan, sample);
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}
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}
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}
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void processDataDrivenRx(void)
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{
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if (!rcDataReceived) {
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return;
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}
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failsafe->vTable->reset();
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processRxChannels();
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rcDataReceived = false;
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}
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void processNonDataDrivenRx(void)
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{
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rcSampleIndex++;
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processRxChannels();
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}
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void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime)
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{
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rxUpdateAt = currentTime + DELAY_50_HZ;
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if (feature(FEATURE_FAILSAFE)) {
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failsafe->vTable->incrementCounter();
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}
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if (isRxDataDriven()) {
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processDataDrivenRx();
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} else {
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processNonDataDrivenRx();
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}
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}
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void parseRcChannels(const char *input, rxConfig_t *rxConfig)
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{
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const char *c, *s;
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for (c = input; *c; c++) {
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s = strchr(rcChannelLetters, *c);
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if (s && (s < rcChannelLetters + MAX_MAPPABLE_RX_INPUTS))
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rxConfig->rcmap[s - rcChannelLetters] = c - input;
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}
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}
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void updateRSSIPWM(void)
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{
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int16_t pwmRssi = 0;
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// Read value of AUX channel as rssi
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pwmRssi = rcData[rxConfig->rssi_channel - 1];
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// Range of rawPwmRssi is [1000;2000]. rssi should be in [0;1023];
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rssi = (uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f);
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}
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#define RSSI_ADC_SAMPLE_COUNT 16
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//#define RSSI_SCALE (0xFFF / 100.0f)
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void updateRSSIADC(uint32_t currentTime)
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{
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static uint8_t adcRssiSamples[RSSI_ADC_SAMPLE_COUNT];
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static uint8_t adcRssiSampleIndex = 0;
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static uint32_t rssiUpdateAt = 0;
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if ((int32_t)(currentTime - rssiUpdateAt) < 0) {
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return;
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}
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rssiUpdateAt = currentTime + DELAY_50_HZ;
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int16_t adcRssiMean = 0;
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uint16_t adcRssiSample = adcGetChannel(ADC_RSSI);
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uint8_t rssiPercentage = adcRssiSample / rxConfig->rssi_scale;
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adcRssiSampleIndex = (adcRssiSampleIndex + 1) % RSSI_ADC_SAMPLE_COUNT;
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adcRssiSamples[adcRssiSampleIndex] = rssiPercentage;
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uint8_t sampleIndex;
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for (sampleIndex = 0; sampleIndex < RSSI_ADC_SAMPLE_COUNT; sampleIndex++) {
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adcRssiMean += adcRssiSamples[sampleIndex];
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}
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adcRssiMean = adcRssiMean / RSSI_ADC_SAMPLE_COUNT;
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rssi = (uint16_t)((constrain(adcRssiMean, 0, 100) / 100.0f) * 1023.0f);
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}
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void updateRSSI(uint32_t currentTime)
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{
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if (rxConfig->rssi_channel > 0) {
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updateRSSIPWM();
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} else if (feature(FEATURE_RSSI_ADC)) {
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updateRSSIADC(currentTime);
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}
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}
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